https://github.com/ompl/ompl

The Open Motion Planning Library (OMPL)
https://github.com/ompl/ompl

motion-planning robotics

Last synced: 1 day ago
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The Open Motion Planning Library (OMPL)

• Host: GitHub
• URL: https://github.com/ompl/ompl
• Owner: ompl
• License: other
• Created: 2014-05-20T14:22:59.000Z (over 10 years ago)
• Default Branch: main
• Last Pushed: 2024-11-22T17:58:29.000Z (21 days ago)
• Last Synced: 2024-11-27T19:02:14.675Z (16 days ago)
• Topics: motion-planning, robotics
• Language: C++
• Homepage: https://ompl.kavrakilab.org
• Size: 209 MB
• Stars: 1,494
• Watchers: 39
• Forks: 595
• Open Issues: 90
• Metadata Files:
  • Readme: README.md
  • License: LICENSE
  • Citation: CITATION.cff

Awesome Lists containing this project

• awesome-robotic-tooling - ompl - Consists of many state-of-the-art sampling-based motion planning algorithms. (Planning and Control / Vector Map)
• awesome-cobots - OMPL

README

        
The Open Motion Planning Library (OMPL)

=======================================

Continuous Integration Status

-----------------------------

[![Build](https://github.com/ompl/ompl/actions/workflows/build.yml/badge.svg?branch=pr-github-actions)](https://github.com/ompl/ompl/actions/workflows/build.yml)

[![Format](https://github.com/ompl/ompl/actions/workflows/format.yml/badge.svg?branch=pr-github-actions)](https://github.com/ompl/ompl/actions/workflows/format.yml?branch=pr-github-actions)

Installation

------------

Visit the [OMPL installation page](https://ompl.kavrakilab.org/core/installation.html) for

detailed installation instructions.

OMPL has the following required dependencies:

* [Boost](https://www.boost.org) (version 1.58 or higher)

* [CMake](https://www.cmake.org) (version 3.12 or higher)

* [Eigen](http://eigen.tuxfamily.org) (version 3.3 or higher)

The following dependencies are optional:

* [Py++](https://github.com/ompl/ompl/blob/main/doc/markdown/installPyPlusPlus.md) (needed to generate Python bindings)

* [Doxygen](http://www.doxygen.org) (needed to create a local copy of the documentation at

  https://ompl.kavrakilab.org/core)

* [Flann](https://github.com/flann-lib/flann/tree/1.9.2) (FLANN can be used for nearest neighbor queries by OMPL)

* [Spot](http://spot.lrde.epita.fr) (Used for constructing finite automata from LTL formulae.)

Once dependencies are installed, you can build OMPL on Linux, macOS,

and MS Windows. Go to the top-level directory of OMPL and type the

following commands:

    mkdir -p build/Release

    cd build/Release

    cmake ../..

    # next step is optional

    make -j 4 update_bindings # if you want Python bindings

    make -j 4 # replace "4" with the number of cores on your machine